VLA-ULAP: Interleaving Cloud VLA Calls with Ultra-Lightweight Local Action Prediction at the Edge
VLA-ULAP partitions inference across decision times, interleaving remote VLA calls with predictions from an Ultra-Lightweight Local Action Predictor (ULAP), a single ULAP that combines current views, proprioception, and executed action history to predict chunks in one pass and surpasses local acceleration alternatives.
De-Yu Cao, Ryuji Oi, Kosuke Matsushima et al.
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